CN109932210A - A kind of device sampled automatically based on unmanned plane water environment - Google Patents
A kind of device sampled automatically based on unmanned plane water environment Download PDFInfo
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- CN109932210A CN109932210A CN201811615703.XA CN201811615703A CN109932210A CN 109932210 A CN109932210 A CN 109932210A CN 201811615703 A CN201811615703 A CN 201811615703A CN 109932210 A CN109932210 A CN 109932210A
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Abstract
A kind of device sampled automatically based on unmanned plane water environment includes: main body, and for accommodating Navigation of Pilotless Aircraft, positioning, Image Acquisition and analysis, height and depth calculation and adjusting, lifting calculates and control, power management, data storage, data emit and received module；Rotor changes the speed of propeller for the revolving speed by the motor for adjusting each rotor, controls posture, direction of travel, speed and the spatial position of unmanned plane；Telescopic device makes sampling container rise or fall a certain distance according to the adjustable height of calculating and control command；Sampling container, for obtaining the water environment sample of target area, and water sample is closed according to preset sampling location and depth.It can efficiently, in time, accurate, high-precision, the low water environment that intensively obtains sample automatically, convenient for improving water environment monitoring efficiency, reinforce the monitoring to the control or the water environment for being not easy to manually monitor of Pollutant Source in Aquatic Environment.
Description
Technical field
The present invention relates to water environment supervision areas, and more specifically, are related to a kind of automatic based on unmanned plane water environment
The device of sampling.
Background technique
With the rapid development of social economy, the pollution of water environment and monitoring problem are increasingly becoming the focus of social concerns；
It is increasing to the detection demand of water environment additionally, due to the rapidly development of culture fishery；In addition, in " beautiful China "
In construction, mechanisms at different levels need periodically to obtain the biochemical parameter of lake, river, water head site etc..In all scenes as described above
In, it needs to sample water environment and analyzed.However in practice, by taking water environment pollution and monitoring as an example, people is often used
Work monitoring and on-line monitoring two ways.Wherein, personal monitoring enters target area often through driving ship or speedboat and carries out
Artificial sample, however in this way sampling period length, large labor intensity, low efficiency, it is at high cost, need to consume a large amount of people
Power material resources, and because destination sample region complexity (such as there are the water surface/over-water floats or barriers, or due to
The water surface has the pollutant to ship or speedboat corrosion, perhaps since there are shoals perhaps due to there are water plant or particularly,
When there are when environmental radioactive pollution object or biohazardous/chemicals in destination sample region), it has been further exacerbated by the difficulty of sampling
Degree, is degrading sample effect.On-line monitoring is real-time water conditions monitoring to be carried out according to fixed on-line monitoring station, however use
This mode can only acquire the water quality situation of fixed region, and cost is high, not have stochastic and dynamic and can not be a wide range of wide
General application.Particularly, there are hysteresis and accuracy and essences to the monitoring that water environment is mutated for usual manner in the prior art
Spend the disadvantages of not high.
In today of avionics rapid development, unmanned plane is possibly realized applied to monitoring water environment.Unmanned plane
It is the simple, volume with structure using the not manned aircraft of radio robot and the presetting apparatus provided for oneself manipulation
It is small, light-weight, mobility is good, the flight time is long, it is at low cost, without airfield runway, can repeatedly recycle the advantages that reuse.
Unmanned plane is using calm water surfaces such as lake, rivers as place of landing of taking off, or hovering is above the water surface.Relative to traditional water ring
For the sampling means of border, unmanned air vehicle technique is capable of providing more conveniences and advantage, facilitates the height of water environment sampling monitoring
Effect, improves water environment sampling monitoring precision and accuracy.
Summary of the invention
An object of the present invention is to provide a kind of device sampled automatically based on unmanned plane water environment, can efficiently,
In time, accurately, in high precision, the low water environment that intensively obtains sample automatically, there is preferable convenience and extensive scene to adapt to
Ability is reinforced convenient for improving water environment monitoring efficiency to the control of Pollutant Source in Aquatic Environment or for being not easy to manually supervise
The monitoring of the water environment of control, and the monitoring for having radiativity or corrosive water environment, improve the machine of monitoring water environment
Dynamic property, flexibility and emergency monitoring ability, and considerably reduce the waste of manual labor and the energy.
The technical solution that the present invention takes to solve above-mentioned technical problem are as follows: one kind is adopted automatically based on unmanned plane water environment
The device of sample includes: main body, for accommodating Navigation of Pilotless Aircraft, positioning, Image Acquisition and analysis, height and depth calculation and tune
Section, lifting calculates and control, power management, data storage, data transmitting and received module；Four rotors are adjusted for passing through
The revolving speed of the motor of each rotor is saved to change the speed of propeller, and then controls posture, direction of travel, the speed of unmanned plane
The spatial position and；Telescopic device is ordered for connecting main body and sampling container, and according to the adjustable height of calculating and control
It enables and sampling container is made to rise or fall a certain distance；And sampling container, for according to preset sampling location and depth
Degree, obtains the water environment sample of target area, and water sample is closed, and the sampling container either inner wall is coated or is electroplate with anti-
The metal sampling container of corrosion material, or the external glass sampling container for being equipped with protection shell.
In one embodiment, main body includes: navigator fix and height determining module；Image Acquisition and analysis module；It is deep
Degree calculates and adjustment module；Power management module；Data memory module；Data transmitting and receiving module；And central processing mould
Block；Wherein: navigator fix and height determining module, for obtaining the geographical position of unmanned plane via data transmitting and receiving module
Confidence breath determines height of the unmanned plane above the water surface, and the geographical location information and height is sent to central processing mould
Block, to be compared between the geographical location information of unmanned plane and the geographical location information of target area by central processing module processing
Difference, thus by the geographical location information of unmanned plane and height and the difference that compares via transmitting and receiving module
It is sent to ground control platform, and when the height of navigator fix and the unmanned plane of height determining module determination above the water surface is big
When first threshold, by central processing module control unmanned plane land in vertical direction, and when be not more than first threshold when by
Compare whether difference is less than or equal to second threshold in central processing module；Image Acquisition and analysis module, in central processing
Module determines the difference after comparing the difference between the geographical location information of unmanned plane and the geographical location information of target area
After second threshold, triggering below Image Acquisition and analysis module acquisition unmanned plane includes the of target area
The image information in one region, and after the difference is greater than second threshold, rotation is sent control signals to by central processing module
The wing, and then posture, direction of travel and the speed of unmanned plane are adjusted, so that the direction towards target area is advanced, later by leading
Boat positioning and height determining module feed back information to central processing module, until the difference is less than or equal to second threshold；The figure
The image information of the first area including target area below the unmanned plane according to acquisition is also used to analysis module as acquiring,
The image for extracting target area, determines target area according to the comparison of the sequence of the pixel of still image and relatedness computation
In whether there is floater or barrier；Depth calculation and adjustment module, for based on central processing module control and
Preset depth requirements calculate the lifting angle and/or distance of telescopic device 3；Power management module, be used for based in
Other all modules with power；Data memory module, outside be coated with waterproof material, the module is for storing unmanned plane
The parameter of geographical location variation and telescopic device lifting；Data transmitting and receiving module, for obtaining via radio link
The geographical location information of unmanned plane, and by the geographical location information and mesh of unmanned plane under the control of central processing module processing
The elevation information for marking difference and unmanned plane between the geographical location information in region is sent to ground control platform, and receives
The center control information and operating parameter more new information of ground control platform；And central processing module, for being stored with mesh
Mark region geography information and water environment sampling operating parameter, and control rotor, navigator fix and height determining module,
The behaviour of Image Acquisition and analysis module, depth calculation and adjustment module, data memory module and data transmitting and receiving module
Make.
In one embodiment, navigator fix and height determining module determine the step of height of the unmanned plane above the water surface
Include: main body 1 be arranged right below including in navigator fix and height determining module optical launcher and optics receive
Device；Optical launcher emits optical signalling at a certain angle, and optical receiver receives the first reflection signal, and wherein unmanned plane exists
Height above the water surface are as follows: H=V* (te-tr) * cos α ÷ 2, wherein V is travel speed of the optical signalling above the water surface,
teAnd trIt is that the time of optical launcher transmitting optical signalling and optical receiver receive the first time for reflecting signal, α respectively
Angle when being optical launcher transmitting optical signalling between vertical direction.
In one embodiment, Image Acquisition and analysis module are according to below the unmanned plane of acquisition including target area
The image information of first area extracts the image of target area, according to the comparison and the degree of correlation of the sequence of the pixel of still image
It calculates to determine in target area and further comprise with the presence or absence of floater or barrier: extracting the image of target area
Each column pixel, formed pixel sequence [I11, I12..., I1p..., I1q], [I21, I22..., I2p..., I2q] ... ...,
[I(m-1)1, I(m-1)2..., I(m-1)p..., I(m-1)q], [Im1, Im2..., Imp..., Imq], wherein m is the pixel columns of image, q
It is the number of lines of pixels of image；N-th degree of correlation of first row pixel and the n-th column pixel is calculated according to the following formula:Wherein 1 < n≤m；When n-th degree of correlation is less than threshold value, next r picture is obtained according to formula
The degree of correlation of element column then shows that the water surface exists when having multiple degrees of correlation to be less than threshold value since the degree of correlation arranged n to n+r
Floating material or barrier, wherein 1≤r < m-1.
In one embodiment, telescopic device 3 is used to connect main body 1 and sampling container 4, and includes: rotatable wheel 31,
Rope 32, motor 33；It is wherein wound with rope 32 in rotatable wheel, and realizes twining for rope 32 under the rotation of motor 33
Around or release；The control signal of motor 32 is from depth calculation and adjustment module, during the depth calculation and adjustment module are based on
The control of processing module and preset depth requirements is entreated to calculate the lifting angle and/or distance and rope 32 of telescopic device 3
Winding or release angle and/or the number of turns, to realize that sampling container 4 rises or falls up to a certain distance；When preset depth
It is required that count A meters of decline below main body, and the diameter of rotatable wheel 31 is B meters, rotatable wheel 31 discharges rotation at this time
Angle be 360*A/ (π B), the number of turns of release is A/ (π B).
In one embodiment, telescopic device 3 includes deformable parallelogram 31 and rope 32, wherein parallel four
Side shape 31 is formed by four edges 311,312,313,314, and wherein the length on side 311 and 313 is a, and the length on side 312 and 314 is
B, and the angle between side 311 and 312 is β；The bottom surface of main body 1 is fixed on two sides 311 and 312 of parallelogram 31,
There are motors between every two sides of parallelogram 31 to realize that adjacent two edges are movable in the axial direction to each other, and the conducting wire of motor is set to
Inside hollow side；Rope 32 is connected to the intersection point on side 313 and 314, and the length of rope 32 is c；Depth calculation and tune
Save module based on central processing module control and preset depth requirements calculate telescopic device 3 lifting angle and/or away from
From to realize that sampling container 4 rises or falls up to a certain distance；Wherein when preset depth requirements are below main body
When counting A meters of decline, angle when motor rotates so that between 311 and 312 between 311 and 312 is β, the β=
arccos[(A-a-c)/b]。
In one embodiment, telescopic device 3 can further comprise multiple separation, equally distributed in 1 bottom surface of main body
Parallelogram, each parallelogram have as being strongly required structure described in 5 or 6, the bottom of each parallelogram
It is connected separately with a rope 32, the other end of rope 32 is connected separately with a sampling container 4.
In one embodiment, sampling container 4 includes: electrically operated valve 41, under the control of central processing module, when
When needing to acquire the water sample of water environment, it is configured to start so that cover plate 42 is opened, and is acquired and completed in sampling container 4
Later, control changes 42 with closure；Cover plate 42 for opening to acquire water environment water sample, and is closed and is adopted with completing water environment
Sample；Rubber pad 43 is disposed in the opening of sampling container 4, for reinforcing the closed level of water environment sampling；Strainer 44 is used
In filtering out the impurity in water；Shell 46, for being equipped with protection shell to protect sampling container damage；Inner wall 45, is used for
Anticorrosion material is coated or is electroplate with to prevent water Environment features from corroding sampling container 4.
In one embodiment, sampling container 4 includes: pulsating pump 401, solid for extracting underwater by suction hose 402
The water environment of depthkeeping degree samples；Suction hose 402, for inputting the water environment extracted sampling；Cover plate 403, for closed with protection
Water environment sampling；Discharge tube 404, for stopping working when pulsating pump 401 works, to prevent water environment sample streams from going out, and
For when water environment sampling it is undesirable or be unsatisfactory for sampling request, and when pulsating pump 401 stops working by sampling container 4
Internal water environment sampling discharge is in order to resampling；Discharge tube 405 is adopted for the water environment inside sampling container 4 to be discharged
Sample；Shell 406, for being equipped with protection shell to protect sampling container damage；Inner wall 407, for coating or being electroplate with
Anticorrosion material is to prevent water Environment features from corroding sampling container 4.
Invention additionally discloses a kind of methods sampled automatically based on unmanned plane water environment, comprising: navigator fix and height are really
Cover half block obtains the geographical location information of unmanned plane via data transmitting and receiving module, determines unmanned plane above the water surface
Highly, and by the geographical location information and height be sent to central processing module, with by central processing module handle relatively nobody
Difference between the geographical location information of machine and the geographical location information of target area, so that the geographical location of unmanned plane be believed
Breath and height and the difference compared are sent to ground control platform via transmitting and receiving module, and fixed when navigating
When height of the unmanned plane that position and height determining module determine above the water surface is greater than first threshold, by central processing module control
Unmanned plane processed lands in vertical direction, and when being not more than first threshold by comparing whether difference is less than in central processing module
Equal to second threshold；Image Acquisition and analysis module compare the geographical location information and target of unmanned plane in central processing module
Determine that the difference is less than or equal to after second threshold, triggers Image Acquisition after difference between the geographical location information in region
With the image information of the first area including target area below analysis module acquisition unmanned plane, and when the difference is greater than the
After two threshold values, rotor is sent control signals to by central processing module, and then adjust the posture of unmanned plane, direction of travel
And speed is fed back information to by navigator fix and height determining module later so that the direction towards target area is advanced
Central processing module, until the difference is less than or equal to second threshold；The Image Acquisition and analysis module are also used to according to acquisition
The image information of the first area including target area below unmanned plane, extracts the image of target area, according to still image
Pixel sequence comparison and relatedness computation determine in target area with the presence or absence of floater or barrier；It is deep
Degree calculates and control and preset depth requirements of the adjustment module based on central processing module, calculates the lifting angle of telescopic device 3
Degree and/or distance；Data transmitting and receiving module obtain the geographical location information of unmanned plane via radio link, and in
It entreats the difference between the geographical location information of unmanned plane and the geographical location information of target area under the control of processing module processing
Not and the elevation information of unmanned plane is sent to ground control platform, and receives the center control information of ground control platform
And operating parameter more new information.
Detailed description of the invention
In the accompanying drawings by way of example rather than the embodiment of the present invention is shown by way of limitation, wherein phase
Same appended drawing reference indicates identical element, in which:
According to an exemplary embodiment of the invention, Fig. 1 illustrates a kind of device sampled automatically based on unmanned plane water environment
Structure chart.
According to an exemplary embodiment of the invention, the main body 1 for the device that Fig. 2 diagram is sampled automatically based on unmanned plane water environment
Functional block diagram.
According to an exemplary embodiment of the invention, the device that Fig. 3 diagram is sampled automatically based on unmanned plane water environment stretches
The structural schematic diagram of device 3.
According to an exemplary embodiment of the invention, the device that Fig. 4 diagram is sampled automatically based on unmanned plane water environment stretches
The structural schematic diagram of the alternative solution of device 3.
According to an exemplary embodiment of the invention, the sampling for the device that Fig. 5 diagram is sampled automatically based on unmanned plane water environment
The structural schematic diagram of container 4.
According to an exemplary embodiment of the invention, the sampling for the device that Fig. 6 diagram is sampled automatically based on unmanned plane water environment
The structural schematic diagram of the alternative solution of container 4.
Specific embodiment
Before carrying out following specific embodiments, certain words and phrase used in the patent document are illustrated
Definition may be advantageous: term " includes " and "comprising" and its derivative mean to include without limiting；Term "or" is
Include, it is meant that and/or；Phrase " with ... it is associated ", " associated with it " and its derivative might mean that including quilt
Be included in ... it is interior, with ... interconnection, include be comprised in ... it is interior, be connected to ... or with ... connect, be coupled to ... or
With ... couple, can be with ... communicate, with ... cooperation interweaves, and side by side, approaches ..., be bound to ... or with ... binding, tool
Have, attribute having ..., etc.；And term " controller " mean to control any equipment of at least one operation, system or
Its component, such equipment may be realized with some combinations of hardware, firmware or software or wherein at least two.It should infuse
Meaning: functionality associated with any specific controller may be centralization or distributed, either it is local still
Remotely.The definition for being used for certain words and phrase is provided through patent document, it should be understood by those skilled in the art that: if
It is not that in most cases, in many cases, such definition is suitable for word and phrase existing and define in this way
Future usage.
In the following description, several specific embodiments with reference to attached drawing and are diagrammatically shown.It will be appreciated that
It is contemplated that and other embodiments can be made without departing from the scope of the present disclosure or spirit.Therefore, described in detail below should not be by
Think in a limiting sense.
According to an exemplary embodiment of the invention, Fig. 1 illustrates a kind of device sampled automatically based on unmanned plane water environment
Structure chart.The device includes: main body 1, for accommodating Navigation of Pilotless Aircraft, positioning, Image Acquisition and analysis, height and depth gauge
It calculates and adjusts, lifting calculates and control, power management, data storage, data transmitting and received module；Four rotors 2 are used
Change the speed of propeller in the revolving speed by the motor for adjusting each rotor, and then controls the posture of unmanned plane, traveling side
To, speed and spatial position；Telescopic device 3, for connecting main body 1 and sampling container 4, and according to the adjustable height of calculating
And control command and make sampling container 4 rise or fall a certain distance；Sampling container 4, for according to preset sampling
Position and depth obtain the water environment sample of target area, and water sample is closed, the sampling container 4 either inner wall coating or
It is electroplate with the metal sampling container of anticorrosion material, or the external glass sampling container for being equipped with protection shell.
According to an exemplary embodiment of the invention, the main body 1 for the device that Fig. 2 diagram is sampled automatically based on unmanned plane water environment
Functional block diagram.Automatically the main body 1 of the device sampled based on unmanned plane water environment includes:
Navigator fix and height determining module, for obtaining the geographical location of unmanned plane via data transmitting and receiving module
Information, determines height of the unmanned plane above the water surface, and the geographical location information and height are sent to central processing module,
To compare the difference between the geographical location information of unmanned plane and the geographical location information of target area by central processing module processing
Not, so that the geographical location information of unmanned plane and height and the difference compared be sent via transmitting and receiving module
Ground control platform is given, and when the height of navigator fix and the unmanned plane of height determining module determination above the water surface is greater than
When first threshold, by central processing module control unmanned plane land in vertical direction, and when be not more than first threshold when by
Central processing module compares whether difference is less than or equal to second threshold；
Image Acquisition and analysis module, for comparing the geographical location information and target area of unmanned plane in central processing module
Determine that the difference is less than or equal to after second threshold after difference between the geographical location information in domain, triggering Image Acquisition and
Analysis module acquires the image information of the first area including target area below unmanned plane, and when the difference is greater than second
After threshold value, rotor is sent control signals to by central processing module, so adjust the posture of unmanned plane, direction of travel and
Speed is fed back information to by navigator fix and height determining module later so that the direction towards target area is advanced
Processing module is entreated, until the difference is less than or equal to second threshold；The Image Acquisition and analysis module are also used to the nothing according to acquisition
The image information of the first area including target area of man-machine lower section, extracts the image of target area, according to still image
The comparison of the sequence of pixel and relatedness computation determine in target area with the presence or absence of floater or barrier；
Depth calculation and adjustment module, for based on central processing module control and preset depth requirements, calculating stretch
The lifting angle and/or distance of compression apparatus 3；
Power management module, be used for based on other all modules with power in 1；
Data memory module, outside be coated with waterproof material, the module for store unmanned plane geographical location variation and
The parameter of telescopic device lifting；
Data transmitting and receiving module, for obtaining the geographical location information of unmanned plane, and in via radio link
It entreats the difference between the geographical location information of unmanned plane and the geographical location information of target area under the control of processing module processing
Not and the elevation information of unmanned plane is sent to ground control platform, and receives the center control information of ground control platform
And operating parameter more new information；And
Central processing module, for being stored with the geography information of target area and the operating parameter of water environment sampling, and
Control rotor, navigator fix and height determining module, Image Acquisition and analysis module, depth calculation and adjustment module, data are deposited
Store up the operation of module and data transmitting and receiving module.
According to an exemplary embodiment of the invention, navigator fix and height determining module determine unmanned plane above the water surface
The step of height includes: being arranged right below including the optical launcher in navigator fix and height determining module in main body 1
And optical receiver；Optical launcher emits optical signalling at a certain angle, and optical receiver receives the first reflection signal,
Height of the middle unmanned plane above the water surface are as follows: H=V* (te- tr) * cos α ÷ 2, wherein V is the optical signalling above the water surface
Travel speed, teAnd trIt is that the time of optical launcher transmitting optical signalling and optical receiver receive the first reflection signal respectively
Time, α be optical launcher transmitting optical signalling when vertical direction between angle.Since optical signalling is through flow surface
Or floating material/barrier of the water surface can generate reflection, therefore optical receiver can capture the letter of reflection in a very short period of time
Number.It reflects and is reflected again after being reflected in entrance water although the optical signalling of optical launcher transmitting is also formed when flow surface
The water surface out, thus captured again by optical receiver, but what optical receiver started in optical launcher transmitting optical signalling
In period, to obtain/reflection interval for calculating as water surface elevation time of received reflection signal for the first time.
According to an exemplary embodiment of the invention, Image Acquisition and analysis module include according to below the unmanned plane of acquisition
The image information of the first area of target area extracts the image of target area, according to the ratio of the sequence of the pixel of still image
Further comprise with the presence or absence of floater or barrier to determine in target area compared with relatedness computation: extracting target
Each column pixel of the image in region forms pixel sequence [I11, I12..., I1p..., I1q], [I21, I22..., I2p...,
I2q] ... ..., [I(m-1)1, I(m-1)2..., I(m-1)p..., I(m-1)q], [Im1, Im2..., Imp..., Imq], wherein m is image
Pixel columns, q are the number of lines of pixels of image；N-th degree of correlation of first row pixel and the n-th column pixel is calculated according to the following formula:Wherein 1 < n≤m；When n-th degree of correlation is less than threshold value, next r picture is obtained according to formula
The degree of correlation of element column then shows that the water surface exists when having multiple degrees of correlation to be less than threshold value since the degree of correlation arranged n to n+r
Floating material or barrier, wherein 1≤r < m-1.
According to an exemplary embodiment of the invention, the device that Fig. 3 diagram is sampled automatically based on unmanned plane water environment stretches
The structural schematic diagram of device 3.The telescopic device 3 includes: rotatable wheel 31 for connecting main body 1 and sampling container 4, rope
Rope 32, motor 33；It is wherein wound with rope 32 in rotatable wheel, and realizes the winding of rope 32 under the rotation of motor 33
Or release；The control signal of motor 32 is based on center from depth calculation and adjustment module, the depth calculation and adjustment module
The lifting angle and/or distance of the control of processing module and preset depth requirements calculating telescopic device 3 and twining for rope 32
Around or release angle and/or the number of turns, to realize that sampling container 4 rises or falls up to a certain distance.For example, when preset
Depth requirements are A meters of decline to be counted below main body, and the diameter of rotatable wheel 31 is B meters, and rotatable wheel 31 will rotate at this time
The angle of release is 360*A/ (π B), and the number of turns of release is A/ (π B).
According to an exemplary embodiment of the invention, the device that Fig. 4 diagram is sampled automatically based on unmanned plane water environment stretches
The structural schematic diagram of the alternative solution of device 3.The telescopic device 3 includes deformable parallelogram 31 and rope 32,
Middle parallelogram 31 is formed by four edges 311,312,313,314, and wherein the length on side 311 and 313 is a, side 312 and 314
Length be b, and the angle between side 311 and 312 is β；Main body is fixed on two sides 311 and 312 of parallelogram 31
1 bottom surface, there are motors between every two sides of parallelogram 31 to realize that adjacent two edges are movable in the axial direction to each other, motor
Conducting wire is placed in inside hollow side；Rope 32 is connected to the intersection point on side 313 and 314, and the length of rope 32 is c；Depth
Calculate the lifting angle that control and preset depth requirements with adjustment module based on central processing module calculate telescopic device 3
And/or distance, to realize that sampling container 4 rises or falls up to a certain distance, wherein when preset depth requirements are from master
When counting A meters of decline below body, angle when motor rotates so that between 311 and 312 between 311 and 312 is β, the β
=arccos [(A-a-c)/b].
Preferably, which can further comprise electromagnet 33, which is placed in the slot of 1 bottom of main body,
And the bottom of electromagnet 33 and the bottom of main body 1 maintain an equal level, and when not making sampling container 4 fall, electromagnet 33 is powered, with
So that attracting side 312；And when receive order make sampling container 4 fall when, electromagnet 33 power off so that release side 312.
It is possible thereby to which telescopic device 3 is securely fastened to 1 lower section of main body when not sample, unmanned plane is more evenly risen
It falls or circles in the air.
Preferably, which can further comprise the parallelogram of multiple interconnection, and each parallelogram has
Common edge length a can extend an identical parallelogram in 313 left sides, can effectively extend so flat
The length of row quadrangle.
Preferably, the telescopic device 3 can further comprise multiple separation, in 1 bottom surface of main body equally distributed parallel four
Side shape, each parallelogram have the structure as described in figure 4 above, and the bottom of each parallelogram is connected separately with one
A rope 32, the other end of rope 32 are connected separately with a sampling container 4.By this particular arrangement, may be implemented multiple
The sampling of target area, and being uniformly distributed due to multiple isolated parallelogram, can make the load of unmanned plane compared with
For equilibrium, and then more evenly it can rise and fall or circle in the air.
Particularly, the position that the sampling container 4 that telescopic device 3 is connected is sampled is necessary for constant depth under the water surface,
To prevent water Environment features from contacting with air, the acquisition of dissolved gas in water is influenced.
According to an exemplary embodiment of the invention, the sampling for the device that Fig. 5 diagram is sampled automatically based on unmanned plane water environment
The structural schematic diagram of container 4.Sampling container 4 includes: electrically operated valve 41, for working as needs under the control of central processing module
Acquire water environment water sample when, be configured to start so that cover plate 42 open, and sampling container 4 acquisition complete after,
Control changes 42 with closure；Cover plate 42 for opening to acquire water environment water sample, and is closed to complete water environment sampling；Rubber
Rubber mat 43 is disposed in the opening of sampling container 4, for reinforcing the closed level of water environment sampling；Strainer 44, for filtering
Impurity in water removal；Shell 46, for being equipped with protection shell to protect sampling container damage；Inner wall 45, for coating
Or anticorrosion material is electroplate with to prevent water Environment features from corroding sampling container 4.It illustrates, the sampling container in Fig. 5
The part of " people " font of 4 tops belongs to rope 32, below the part of bifurcated and the top of sampling container 4 formed three
Angular height in vertical direction belongs to a part of the length of rope 32.
According to an exemplary embodiment of the invention, the sampling for the device that Fig. 6 diagram is sampled automatically based on unmanned plane water environment
The structural schematic diagram of the alternative solution of container 4.Sampling container 4 includes: pulsating pump 401, for extracting water by suction hose 402
The water environment sampling of constant depth under face；Suction hose 402, for inputting the water environment extracted sampling；Cover plate 403, for closed
To protect water environment to sample；Discharge tube 404, for stopping working when pulsating pump 401 works, to prevent water environment sample streams
Out, and for when water environment sampling it is undesirable or be unsatisfactory for sampling request, and will be adopted when pulsating pump 401 stops working
Water environment sampling discharge inside sample container 4 is in order to resampling；Discharge tube 405, for being discharged inside sampling container 4
Water environment sampling；Shell 406, for being equipped with protection shell to protect sampling container damage；Inner wall 407, for coating
Or anticorrosion material is electroplate with to prevent water Environment features from corroding sampling container 4.It illustrates, the sampling container in Fig. 6
The part of " people " font of 4 tops belongs to rope 32, the triangle that the part of bifurcated and the top of sampling container 4 are formed below
The height of shape in vertical direction belongs to a part of the length of rope 32.
Preferably or alternatively, sampling container 4 can also be using polytetrafluoroethylene (PTFE) or the container of polythene material.
Preferably or alternatively, the inner wall of sampling container 4 is coated with epoxy resin, polytetrafluoroethylene (PTFE) or nylon coating.
According to an exemplary embodiment of the invention, invention additionally discloses a kind of sides sampled automatically based on unmanned plane water environment
Method, comprising steps of
Navigator fix and height determining module obtain the geographical location information of unmanned plane via data transmitting and receiving module,
It determines height of the unmanned plane above the water surface, and the geographical location information and height is sent to central processing module, in
The difference between the geographical location information of unmanned plane and the geographical location information of target area is compared in centre processing module processing, from
And the geographical location information of unmanned plane and height and the difference compared are sent to ground via transmitting and receiving module
Control platform, and when the height of navigator fix and the unmanned plane of height determining module determination above the water surface is greater than the first threshold
When value, landed in vertical direction by central processing module control unmanned plane, and when being not more than first threshold by centre
Reason module compares whether difference is less than or equal to second threshold；
Image Acquisition and analysis module compare geographical location information and the target area of unmanned plane in central processing module
Determine that the difference is less than or equal to after second threshold, triggers Image Acquisition and analysis after difference between geographical location information
Module acquires the image information of the first area including target area below unmanned plane, and when the difference is greater than second threshold
Later, rotor is sent control signals to by central processing module, and then adjusts posture, direction of travel and the speed of unmanned plane,
To advance towards the direction of target area, centre is fed back information to by navigator fix and height determining module later
Module is managed, until the difference is less than or equal to second threshold；The Image Acquisition and analysis module are also used to the unmanned plane according to acquisition
The image information of the first area including target area of lower section, extracts the image of target area, according to the pixel of still image
Sequence comparison and relatedness computation determine in target area with the presence or absence of floater or barrier；
Depth calculation and adjustment module control and preset depth requirements based on central processing module calculate telescopic device
3 lifting angle and/or distance；
Data transmitting and receiving module obtain the geographical location information of unmanned plane via radio link, and in centre
Manage resume module control under by the difference between the geographical location information of unmanned plane and the geographical location information of target area with
And the elevation information of unmanned plane is sent to ground control platform, and receive ground control platform center control information and
Operating parameter more new information.
In addition, can also should include each portion in figure 2 above-Fig. 6 based on the method that unmanned plane water environment samples automatically
Step performed by the submodule of part.Herein just to reduce the repetition of identical description and the descriptions thereof are omitted, but this field
Technical staff can directly and unambiguously determine that above-mentioned steps can be obtained from apparatus above description.
Above-mentioned each technical term is the routine techniques term with common meaning in this field, in order not to obscure this
The emphasis of invention, is not further explained it herein.
To sum up, in the inventive solutions, by using a kind of dress sampled automatically based on unmanned plane water environment
Set, can efficiently, in time, accurate, high-precision, the low water environment that intensively obtains sample automatically, have preferable convenience and
Extensive scene adaptability is reinforced convenient for improving water environment monitoring efficiency to the control of Pollutant Source in Aquatic Environment or right
In the monitoring for the water environment for being not easy to manually monitor, and the monitoring for having radiativity or corrosive water environment, it improves
Mobility, flexibility and the emergency monitoring ability of monitoring water environment, and considerably reduce the wave of manual labor and the energy
Take.
It will be appreciated that example and reality of the invention can be realized in the form of the combination of hardware, software or hardware and software
Apply example.As described above, any main body for executing this method can be stored, in the form of volatility or non-volatile holographic storage, such as
Equipment is stored, as ROM, whether no matter can erasing or is rewritable, or in the form of a memory, such as RAM, memory
Chip, equipment or integrated circuit or on the readable medium of light or magnetic, such as CD, DVD, disk or tape.It will be understood that
Be: storage equipment and storage medium are suitable for storing the example of the machine readable storage of one or more programs, when being performed
When, one or more of programs realize example of the invention.Via any medium, such as carried by wired or wireless coupling
Some signals of communication can electronically transmit example of the invention, and example suitably includes identical content.
It is to be noted that because the present invention solve it is efficient, timely, accurate, high-precision, low intensively obtain water environment
Automatic sampling has preferable convenience and extensive live adaptability, convenient for improving water environment monitoring efficiency, reinforcement pair
The monitoring of the control of Pollutant Source in Aquatic Environment or the water environment for being not easy to manually monitor, and for there is radiativity
Or the monitoring of corrosive water environment, improve mobility, flexibility and the emergency monitoring ability of monitoring water environment, and pole
The earth reduces the technical issues of waste of manual labor and the energy, uses technician in the art and is reading this
Technological means to understand is instructed according to it after specification, and obtains advantageous effects, so being wanted in appended right
Claimed scheme is asked to belong to the technical solution on patent law purposes.In addition, because appended claims are claimed
Technical solution can be made or used in industry, therefore the program has practicability.
The above, preferable specific embodiment only of the invention, but protection scope of the present invention is not limited to
This, anyone skilled in the art in the technical scope disclosed by the present invention, the variation that can readily occur in or replaces
It changes, should all forgive within protection scope of the present invention.Unless be otherwise expressly recited, otherwise disclosed each feature
It is only equivalent or similar characteristics a example for general series.Therefore, protection scope of the present invention should be with claims
Protection scope subject to.
Claims (10)
1. a kind of device sampled automatically based on unmanned plane water environment, comprising:
Main body, for accommodating Navigation of Pilotless Aircraft, positioning, Image Acquisition and analysis, height and depth calculation and adjusting, lifting calculates
With control, power management, data storage, data transmitting and received module；
Four rotors change the speed of propeller for the revolving speed by the motor for adjusting each rotor, and then control nobody
Posture, direction of travel, speed and the spatial position of machine；
Telescopic device makes for connecting main body and sampling container, and according to the adjustable height of calculating and control command
Sampling container rises or falls a certain distance；And
Sampling container, for obtaining the water environment sample of target area, and water sample is close according to preset sampling location and depth
It closes, which coats or be electroplate with the metal sampling container of anticorrosion material or outside is equipped with
Protect the glass sampling container of shell.
2. the device according to claim 1 sampled automatically based on unmanned plane water environment, wherein main body includes: navigator fix
And height determining module；Image Acquisition and analysis module；Depth calculation and adjustment module；Power management module；Data store mould
Block；Data transmitting and receiving module；And central processing module；Wherein:
Navigator fix and height determining module, the geographical location for obtaining unmanned plane via data transmitting and receiving module are believed
Breath, determines height of the unmanned plane above the water surface, and the geographical location information and height are sent to central processing module, with by
The difference between the geographical location information of unmanned plane and the geographical location information of target area is compared in central processing module processing, from
And the geographical location information of unmanned plane and height and the difference compared are sent to ground via transmitting and receiving module
Control platform, and when the height of navigator fix and the unmanned plane of height determining module determination above the water surface is greater than first threshold
When, landed in vertical direction by central processing module control unmanned plane, and when being not more than first threshold by central processing
Module compares whether difference is less than or equal to second threshold；
Image Acquisition and analysis module, for comparing in central processing module geographical location information and the target area of unmanned plane
Determine that the difference is less than or equal to after second threshold after difference between geographical location information, triggering Image Acquisition and analysis mould
Block acquire unmanned plane below the first area including target area image information, and when the difference greater than second threshold it
Afterwards, rotor is sent control signals to by central processing module, and then adjusts posture, direction of travel and the speed of unmanned plane, from
And advance towards the direction of target area, central processing mould is fed back information to by navigator fix and height determining module later
Block, until the difference is less than or equal to second threshold；The Image Acquisition and analysis module are also used to below the unmanned plane according to acquisition
The first area including target area image information, the image of target area is extracted, according to the sequence of the pixel of still image
The comparisons of column and relatedness computation determine in target area with the presence or absence of floater or barrier；
Depth calculation and adjustment module, for based on central processing module control and preset depth requirements, calculate flexible dress
Set 3 lifting angle and/or distance；
Power management module, be used for based in other all modules with power；
Data memory module, outside be coated with waterproof material, the module is for storing unmanned plane geographical location variation and flexible
The parameter of device lifting；
Data transmitting and receiving module, for obtaining the geographical location information of unmanned plane, and in centre via radio link
Manage resume module control under by the difference between the geographical location information of unmanned plane and the geographical location information of target area with
And the elevation information of unmanned plane is sent to ground control platform, and receives center control information and the behaviour of ground control platform
Make parameter more new information；And
Central processing module for being stored with the geography information of target area and the operating parameter of water environment sampling, and controls
Rotor, navigator fix and height determining module, Image Acquisition and analysis module, depth calculation and adjustment module, data store mould
The operation of block and data transmitting and receiving module.
3. the device according to claim 2 sampled automatically based on unmanned plane water environment, in which:
Navigator fix and height determining module determine the step of height of the unmanned plane above the water surface include: main body 1 just under
It includes optical launcher and optical receiver in navigator fix and height determining module that side, which is equipped with,；Optical launcher is with certain
Angle emits optical signalling, and optical receiver receives the first reflection signal, wherein height of the unmanned plane above the water surface are as follows: H=
V*(te-tr) * cos α ÷ 2, wherein V is travel speed of the optical signalling above the water surface, teAnd trIt is optical launcher respectively
The time and optical receiver for emitting optical signalling receive the time of the first reflection signal, and α is optical launcher transmitting optics letter
Number when and vertical direction between angle.
4. the device according to claim 3 sampled automatically based on unmanned plane water environment, in which:
Image Acquisition and analysis module according to the image information of the first area including target area below the unmanned plane of acquisition,
The image for extracting target area, determines in target area according to the comparison of the sequence of the pixel of still image and relatedness computation
Further comprise with the presence or absence of floater or barrier: extracting each column pixel of the image of target area, forms pixel
Sequence [I11, I12..., I1p..., I1q], [I21, I22..., I2p..., I2q] ... ..., [I(m-1)1, I(m-1)2..., I(m-1)p...,
I(m-1)q], [Im1, Im2..., Imp..., Imq], wherein m is the pixel columns of image, and q is the number of lines of pixels of image；According to following
N-th degree of correlation of formula calculating first row pixel and the n-th column pixel:Wherein 1 < n≤m；Work as n-th
When Guan Du is less than threshold value, the degree of correlation of next r pixel column is obtained according to formula, when the degree of correlation arranged since n to n+r
In have multiple degrees of correlation be less than threshold value, then showing the water surface, there are floating material or barriers, wherein 1≤r < m-1.
5. the device according to claim 4 sampled automatically based on unmanned plane water environment, in which:
Telescopic device 3 includes: rotatable wheel 31, rope 32, motor 33 for connecting main body 1 and sampling container 4；Wherein
It is wound with rope 32 in rotatable wheel, and realizes the winding or release of rope 32 under the rotation of motor 33；The control of motor 32
Signal processed is from depth calculation and adjustment module, the control of the depth calculation and adjustment module based on central processing module and pre-
If depth requirements calculate telescopic device 3 lifting angle and/or distance and rope 32 winding or release angle and/or circle
Number, to realize that sampling container 4 rises or falls up to a certain distance；When preset depth requirements are to count down below main body
A meters of drop, and the diameter of rotatable wheel 31 is B meters, the angle of rotation release is 360*A/ (π B), release by rotatable wheel 31 at this time
The number of turns be A/ (π B).
6. the device according to claim 4 sampled automatically based on unmanned plane water environment, in which:
Telescopic device 3 include deformable parallelogram 31 and rope 32, wherein parallelogram 31 by four edges 311,
312,313,314 formed, wherein the length on side 311 and 313 is a, and the length on side 312 and 314 is b, and side 311 and 312 it
Between angle be β；The bottom surface of main body 1 is fixed on two sides 311 and 312 of parallelogram 31, and every the two of parallelogram 31
There are motors between side to realize that adjacent two edges are movable in the axial direction to each other, and the conducting wire of motor is placed in inside hollow side；Rope
32 are connected to the intersection point on side 313 and 314, and the length of rope 32 is c；Depth calculation and adjustment module are based on central processing mould
The control of block and preset depth requirements calculate the lifting angle and/or distance of telescopic device 3, to realize on sampling container 4
It rises or decline reaches a certain distance；Wherein when preset depth requirements are to count A meters of decline below main body, side 311 and 312
Between motor to rotate so that the angle between side 311 and 312 be β, the β=arccos [(A-a-c)/b].
7. the device according to claim 5 or 6 sampled automatically based on unmanned plane water environment, in which:
Telescopic device 3 can further comprise multiple separation, in the equally distributed parallelogram in 1 bottom surface of main body, it is each parallel
Quadrangle has as being strongly required structure described in 5 or 6, and the bottom of each parallelogram is connected separately with a rope
32, the other end of rope 32 is connected separately with a sampling container 4.
8. the device according to claim 7 sampled automatically based on unmanned plane water environment, in which:
Sampling container 4 includes: electrically operated valve 41, under the control of central processing module, when the water for needing to acquire water environment
When sample, it is configured to start so that cover plate 42 is opened, and after the acquisition of sampling container 4 is completed, control changes 42 to close
It closes；Cover plate 42 for opening to acquire water environment water sample, and is closed to complete water environment sampling；Rubber pad 43, is disposed in
The opening of sampling container 4, for reinforcing the closed level of water environment sampling；Strainer 44, for filtering out the impurity in water；Shell
46, for being equipped with protection shell to protect sampling container damage；Inner wall 45, for coating or being electroplate with anticorrosion material
To prevent water Environment features from corroding sampling container 4.
9. the device according to claim 7 sampled automatically based on unmanned plane water environment, in which:
Sampling container 4 includes: pulsating pump 401, for extracting the water environment sampling of underwater constant depth by suction hose 402；
Suction hose 402, for inputting the water environment extracted sampling；Cover plate 403, for closed to protect water environment to sample；Discharge tube
404, for stopping working when pulsating pump 401 works, to prevent water environment sample streams from going out, and for being sampled not when water environment
Ideal is unsatisfactory for sampling request, and the water environment inside sampling container 4 is sampled discharge when pulsating pump 401 stops working
In order to resampling；Discharge tube 405, for the water environment sampling inside sampling container 4 to be discharged；Shell 406, for being equipped with
Protect shell to protect sampling container damage；Inner wall 407, for coating or being electroplate with anticorrosion material to prevent water environment
Sampling corrosion sampling container 4.
10. a kind of method sampled automatically according to any one of claim 4-9 based on unmanned plane water environment, comprising:
Navigator fix and height determining module obtain the geographical location information of unmanned plane via data transmitting and receiving module, determine
Height of the unmanned plane above the water surface, and the geographical location information and height are sent to central processing module, by centre
Reason resume module compares the difference between the geographical location information of unmanned plane and the geographical location information of target area, thus by nothing
Man-machine geographical location information is sent to ground control via transmitting and receiving module with height and the difference compared and puts down
Platform, and when height of the unmanned plane that navigator fix and height determining module determine above the water surface is greater than first threshold, by
Central processing module control unmanned plane lands in vertical direction, and when being not more than first threshold by central processing module ratio
Whether it is less than or equal to second threshold compared with difference；
Image Acquisition and analysis module compare the geographical location information of unmanned plane and the geography of target area in central processing module
It determines that the difference is less than or equal to after second threshold after difference between location information, triggers Image Acquisition and analysis module is adopted
Collect the image information of the first area including target area below unmanned plane, and after the difference is greater than second threshold, by
Central processing module sends control signals to rotor, and then adjusts posture, direction of travel and the speed of unmanned plane, thus towards
The direction of target area is advanced, and feeds back information to central processing module by navigator fix and height determining module later, directly
It is less than or equal to second threshold to the difference；The Image Acquisition and analysis module are also used to below the unmanned plane according to acquisition
The image information of the first area of target area extracts the image of target area, according to the ratio of the sequence of the pixel of still image
It whether there is floater or barrier in target area compared with relatedness computation to determine；
Depth calculation and adjustment module control and preset depth requirements based on central processing module calculate telescopic device 3
Lifting angle and/or distance；
Data transmitting and receiving module obtain the geographical location information of unmanned plane via radio link, and in central processing mould
By the difference and nothing between the geographical location information of unmanned plane and the geographical location information of target area under the control of block processing
Man-machine elevation information is sent to ground control platform, and receives the center control information and operation ginseng of ground control platform
Number more new information.
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| CN114279762A (en) * | 2021-12-31 | 2022-04-05 | 深圳市可飞科技有限公司 | Liquid sample collection system, method and device applied to aircraft |
| CN117347114A (en) * | 2023-12-05 | 2024-01-05 | 青岛海洋地质研究所 | Air-sea integrated water environment acquisition path analysis system |
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